Welcome to the forum. As a returning rider you have made a good choice with the GZ to renew your riding skills.
If you take a look at the foot controls you will see that they are adjustable to suit your comfort and pedal control. No you do want your foot resting on the brake pedal. Adjust it down so your foot just stays clear of it. You may also have to adjust the rear brake light switch by simply turning it so the light only comes on when you press the rear brake. It is attached to the rear area of the brake pedal. It is a plastic piece with a spring attached to it.
The shifter can be adjusted to suit your foot by adjusting the shifter rod joining the pedal to the side of the engine case. Loosen the lock nuts and turn the rod. One end is a reverse thread to accomplish this.
You will be much more comfy and gain your confidence sooner if you don't have to fight with ill fitting foot controls.
